초록 ▼

A global positioning system (GPS) based navigation and steering control system for ground vehicles, in particular, agricultural ground vehicles such as tractors, combines, sprayers, seeders, or the like, calculates instantaneous placement corrections to achieve desired towed implement placement on c

A global positioning system (GPS) based navigation and steering control system for ground vehicles, in particular, agricultural ground vehicles such as tractors, combines, sprayers, seeders, or the like, calculates instantaneous placement corrections to achieve desired towed implement placement on curved paths, and a method for same.

대표청구항 ▼

What is claimed is: 1. A method for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising: calculating an initial estimate of a required ground vehicle turning radius for the ground vehicle; calculating a

What is claimed is: 1. A method for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising: calculating an initial estimate of a required ground vehicle turning radius for the ground vehicle; calculating a steady state implement angle for the towed implement; calculating a steady state implement turning radius for the ground vehicle turn radius; adjusting the initial estimate of a required ground vehicle turning radius for the ground vehicle; determining if the initial estimate of a required ground vehicle turning radius for the ground vehicle has converged; calculating the steady state offset of the ground vehicle; calculating an instantaneous ground vehicle offset, a heading offset and a feed forward steering angle for the ground vehicle; and adjusting the path of the ground vehicle based on the instantaneous ground vehicle offset, the heading offset and the feed forward steering angle for the ground vehicle to allow the towed implement to at least substantially follow the curved path. 2. The method as claimed in claim 1, further comprising determining if the trajectory of the ground vehicle has changed. 3. The method as claimed in claim 1, wherein the initial estimate of a required ground vehicle turning radius is determined from: description="In-line Formulae" end="lead"Rground--vehicle=R segment+[bi(ai+bi)+��(a i+bi)2]description="In-line Formulae" end="tail" where Rground--vehicle is the initial ground vehicle turning radius, Rsegment is the desired implement turning radius, ai is a distance from the center of the ground vehicle rear axle to the drawbar pin and bi is the distance from the drawbar pin to the turning center of the implement. 4. The method as claimed in claim 1, wherein the steady state implement angle for the towed implement is determined from: where γ is the implement angle; s is an along track distance; and ρ is a ground vehicle trajectory curvature (1/radius), ai is a distance from the center of the ground vehicle rear axle to the drawbar pin and bi is the distance from the drawbar pin to the turning center of the implement. 5. The method as claimed in claim 1, wherein the initial estimate of the steady state implement angle is determined from: where γss is the steady state implement angle, the angle residual is determined from: where e is the angle residual, and the revised estimate of the steady state implement angle is determined from: 6. The method as claimed in claim 1, wherein the steady state ground vehicle offset is determined from: where lGPS is a distance from a turning center for the ground vehicle to an antenna of a global positioning system receiver mounted to the ground vehicle and Rimplement is the steady state implement turning radius which is determined from: description="In-line Formulae" end="lead"Rimplement=Rground--vehicle cos γss+ai sin γss.description="In-line Formulae" end="tail" 7. The method as claimed in claim 1, wherein the instantaneous ground vehicle offset is determined from: where Vx is the velocity of the ground vehicle. 8. The method as claimed in claim 1, wherein an instantaneous placement correction is determined from: and the feed forward steering angle determined from: where L is a wheelbase of the ground vehicle. 9. A system for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising: and a position and implement drift compensation module receiving data from a global positioning system (GPS) receiver and a terrain compensation module, and receiving a stored desired path and stored implement information, the position and implement drift compensation module further configured to: calculate an initial estimate of a required ground vehicle turning radius for the ground vehicle; calculate a steady state implement angle of the ground vehicle; calculate a steady state implement turning radius for the ground vehicle turn radius; adjust the initial estimate of a required ground vehicle turning radius for the ground vehicle; determine if the initial estimate of a required ground vehicle turning radius for the ground vehicle has converged; calculate the steady state offset of the ground vehicle; and calculate an instantaneous ground vehicle offset, a heading offset and a feed forward steering angle for the ground vehicle; and a user interface for accessing one or more of the positioning and implement drift compensation module, the stored desired path, or the stored implement information and communicating with a steering control unit for combining one or more of the positioning and implement drift compensation information, the stored desired path information, or the stored implement information with data received from at least one of a steered wheel angle sensor or an electronic control unit for manipulating one or more steering control valves for correcting the trajectory of the ground vehicle using the instantaneous placement corrections and adjusting the path of the ground vehicle so that the towed implement at least substantially follows the curved path. 10. The system as claimed in claim 9, wherein the position and implement drift compensation module further determines if the trajectory of the ground vehicle has changed. 11. A system for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising: a position and implement drift compensation module receiving data from a global positioning system (GPS) receiver and a terrain compensation module, and receiving a stored desired path and stored implement information, the position and implement drift compensation module further configured to: calculate an initial estimate of a required ground vehicle turning radius for the ground vehicle; calculate a steady state implement angle of the ground vehicle; calculate a steady state implement turning radius for the ground vehicle turn radius; adjust the initial estimate of a required ground vehicle turning radius for the ground vehicle; determine if the initial estimate of a required ground vehicle turning radius for the ground vehicle has converged; calculate the steady state offset of the ground vehicle; calculate an instantaneous ground vehicle offset, a heading offset and a feed forward steering angle for the ground vehicle; and adjust the path of the ground vehicle based on the instantaneous ground vehicle offset, the heading offset and the feed forward steering angle for the ground vehicle to allow the towed implement to at least substantially follow the curved path. 12. The system as claimed in claim 11, wherein the position and implement drift compensation module is further configured to: determine if the trajectory of the ground vehicle has changed. 13. The method as claimed in claim 1, wherein the calculating a steady state implement angle for the towed implement further includes: determining an initial estimate of the steady state implement angle; determining a steady state implement angle residual error; and correcting the estimated steady state implement angle by iteratively inputting the steady state implement angle residual error until convergence is achieved. 14. The system as claimed in claim 9, wherein the position and implement drift compensation module is further configured to: determine an initial estimate of the steady state implement angle; determine a steady state implement angle residual error; and correct the estimated steady state implement angle by iteratively inputting the steady state implement angle residual error until convergence is achieved. 15. The system as claimed in claim 14, wherein the position and implement drift compensation module is further configured to: determine an initial estimate of the steady state implement angle from the equation: 16. The system as claimed in claim 14, wherein the position and implement drift compensation module is further configured to: determine a steady state implement angle residual error from the equation: 17. The system as claimed in claim 14, wherein the position and implement drift compensation module is further configured to: correct the estimated steady state implement angle by iteratively inputting the steady state implement angle residual error into the following equation until convergence is achieved: